/*
 * COPYRIGHT AND PERMISSION NOTICE
 * Penn Software MSCKF_VIO
 * Copyright (C) 2017 The Trustees of the University of Pennsylvania
 * All rights reserved.
 */

#include <msckf_vio/msckf_vio_nodelet.h>

namespace msckf_vio {
    
void MsckfVioNodelet::onInit() {
    msckf_vio_ptr.reset(new MsckfVio(getPrivateNodeHandle()));
    if (!msckf_vio_ptr->initialize()) {
        ROS_ERROR("Cannot initialize MSCKF VIO...");
        return;
    }
    return;
}

PLUGINLIB_EXPORT_CLASS(msckf_vio::MsckfVioNodelet, nodelet::Nodelet);

}  // end namespace msckf_vio
